version: 66.12
glider: 187
mission: 8
dive: 50
start: 6 24 115 19 4 27
data:
$ID,187
$MISSION,8
$DIVE,50
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3395
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,240615,185008,4711.7100,-12627.4648,33,1.0,33,16.5,0.6,84.3,8,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.5
$GPS2,240615,190358,4711.6655,-12627.3447,4,0.9,6,16.5,0.5,111.6,9,9.1
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,226.0,46561,-14.0,-7.333,-18.81,2445
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.47,-116.8,86,1790,1315,1511,0.0,0.0,0,101,0.00,0.00,-67.05,0.000,16386,0.000,0.000,86,1791,3269,3255,3284,0,0,0,0,0,0,14.50,28.83,14.52
$GC,108,-0.47,-116.8,86,1796,3255,3286,4.5,-7.3,7,134,13.40,2.62,-2.25,0.000,18948,0.362,2.221,3233,450,3420,3408,3433,0,0,0,0,0,0,14.16,13.55,14.38
$GC,248,-0.47,-116.8,3233,450,3408,3438,51.5,-21.4,32,257,0.00,2.40,0.00,0.000,1030,0.000,0.096,3233,1801,3422,3407,3438,0,0,0,0,0,0,14.39,14.30,14.40
$GC,438,-0.47,-116.8,3233,1800,3408,3440,88.2,-18.5,51,446,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1800,3424,3408,3440,0,0,0,0,0,0,14.57,14.59,14.59
$GC,628,-0.47,-116.8,3233,1800,3408,3441,117.9,-15.1,70,637,0.00,2.50,0.00,0.000,260,0.000,0.103,3233,3210,3424,3408,3441,0,0,0,0,0,0,14.62,14.41,14.62
$GC,702,-0.47,-116.8,3233,3210,3409,3441,128.3,-12.8,83,710,0.00,2.50,0.00,0.000,1030,0.000,0.096,3233,1800,3424,3407,3441,0,0,0,0,0,0,14.52,14.45,14.53
$GC,891,-0.47,-116.8,3233,1799,3403,3442,153.2,-12.9,102,900,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1800,3425,3408,3442,0,0,0,0,0,0,14.65,14.66,14.65
$GC,1081,-0.47,-116.8,3232,1799,3408,3442,176.1,-12.1,121,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1799,3425,3409,3442,0,0,0,0,0,0,14.67,14.70,14.69
$GC,1271,-0.47,-116.8,3233,1799,3407,3442,200.1,-12.7,140,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1799,3425,3408,3442,0,0,0,0,0,0,14.69,14.71,14.70
$GC,1462,-0.47,-116.8,3238,1801,3407,3442,223.9,-12.5,159,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1799,3424,3407,3442,0,0,0,0,0,0,14.70,14.71,14.71
$GC,1651,-0.47,-116.8,3233,1799,3409,3442,246.5,-11.8,178,1660,0.00,2.53,0.00,0.000,260,0.000,0.106,3233,3219,3424,3407,3442,0,0,0,0,0,0,14.71,14.52,14.72
$GC,1715,-0.47,-116.8,3233,3215,3407,3442,253.9,-10.8,189,1724,0.00,2.50,0.00,0.000,1030,0.000,0.099,3233,1805,3424,3407,3442,0,0,0,0,0,0,14.60,14.54,14.62
$GC,2025,-0.47,-116.8,3233,1805,3404,3441,288.1,-11.0,200,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1805,3422,3404,3441,0,0,0,0,0,0,14.73,14.74,14.74
$GC,2321,-0.47,-116.8,3233,1806,3403,3442,320.2,-10.4,210,2330,0.00,2.53,0.00,0.000,260,0.000,0.108,3233,3221,3425,3409,3441,0,0,0,0,0,0,14.74,14.51,14.76
$GC,2364,-0.47,-116.8,3233,3223,3401,3441,324.8,-9.9,217,2372,0.00,2.53,0.00,0.000,1030,0.000,0.098,3233,1789,3422,3403,3442,0,0,0,0,0,0,14.62,14.53,14.64
$GC,2702,-0.47,-116.8,3233,1789,3401,3442,359.0,-10.1,232,2709,0.00,2.53,0.00,0.000,260,0.000,0.105,3233,3207,3421,3401,3442,0,0,0,0,0,0,14.73,14.55,14.76
$GC,2755,-0.47,-116.8,3233,3207,3400,3442,364.6,-9.4,241,2762,0.00,2.47,0.00,0.000,1030,0.000,0.098,3233,1807,3420,3400,3441,0,0,0,0,0,0,14.64,14.55,14.65
$GC,3082,-0.47,-116.8,3232,1807,3399,3441,395.7,-9.6,254,3090,0.00,2.50,0.00,0.000,260,0.000,0.107,3238,3210,3419,3398,3441,0,0,0,0,0,0,14.76,14.56,14.77
$GC,3161,-0.47,-116.8,3233,3209,3399,3442,403.8,-9.6,268,3168,0.00,2.50,0.00,0.000,1030,0.000,0.099,3238,1789,3419,3398,3441,0,0,0,0,0,0,14.64,14.54,14.65
$GC,3493,-0.47,-116.8,3232,1788,3397,3441,436.6,-10.0,282,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1788,3419,3397,3442,0,0,0,0,0,0,14.76,14.78,14.77
$GC,3790,-0.47,-116.8,3233,1788,3395,3442,467.3,-10.3,292,3798,0.00,2.53,0.00,0.000,260,0.000,0.107,3233,3207,3418,3394,3442,0,0,0,0,0,0,14.76,14.57,14.78
$GC,3858,-0.47,-116.8,3233,3206,3394,3441,474.6,-10.4,304,3867,0.00,2.47,0.00,0.000,1030,0.000,0.099,3233,1807,3418,3394,3442,0,0,0,0,0,0,14.65,14.57,14.66
$GC,4202,-0.47,-116.8,3233,1807,3392,3441,509.9,-10.3,320,4209,0.00,2.50,0.00,0.000,260,0.000,0.107,3233,3206,3416,3392,3441,0,0,0,0,0,0,14.76,14.56,14.78
$GC,4275,-0.47,-116.8,3236,3204,3392,3440,517.4,-9.4,333,4282,0.00,2.50,0.00,0.000,1030,0.000,0.100,3233,1789,3416,3391,3442,0,0,0,0,0,0,14.64,14.54,14.66
$GC,4613,-0.47,-116.8,3233,1788,3390,3436,546.9,-8.3,348,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1787,3416,3391,3441,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4908,-0.47,-116.8,3233,1788,3390,3441,572.4,-8.8,358,4916,0.00,2.55,0.00,0.000,260,0.000,0.106,3233,3223,3415,3390,3441,0,0,0,0,0,0,14.76,14.54,14.78
$GC,5038,-0.47,-116.8,3233,3223,3389,3440,583.2,-8.5,381,5046,0.00,2.53,0.00,0.000,1030,0.000,0.099,3233,1790,3414,3389,3440,0,0,0,0,0,0,14.65,14.56,14.66
$GC,5342,-0.47,-116.8,3234,1790,3388,3440,609.5,-8.5,392,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1790,3413,3387,3440,0,0,0,0,0,0,14.76,14.78,14.77
$GC,5639,-0.47,-116.8,3233,1789,3385,3440,634.4,-8.2,402,5647,0.00,2.55,0.00,0.000,260,0.000,0.108,3237,3222,3412,3385,3440,0,0,0,0,0,0,14.76,14.56,14.78
$GC,5702,-0.47,-116.8,3237,3222,3385,3439,639.5,-7.7,413,5711,0.00,2.50,0.00,0.000,1030,0.000,0.100,3233,1808,3412,3385,3439,0,0,0,0,0,0,14.65,14.56,14.64
$GC,6013,-0.47,-116.8,3232,1808,3384,3439,663.6,-8.1,424,6020,0.00,2.50,0.00,0.000,260,0.000,0.108,3233,3204,3415,3391,3439,0,0,0,0,0,0,14.76,14.55,14.78
$GC,6056,-0.47,-116.8,3233,3204,3384,3439,667.3,-7.7,431,6063,0.00,2.50,0.00,0.000,1030,0.000,0.100,3233,1788,3411,3384,3439,0,0,0,0,0,0,14.64,14.54,14.66
$GC,6393,-0.47,-116.8,3233,1787,3383,3438,694.8,-8.4,446,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1788,3411,3383,3439,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6690,-0.47,-116.8,3233,1787,3382,3439,720.5,-8.6,456,6697,0.00,2.55,0.00,0.000,260,0.000,0.107,3233,3220,3410,3382,3438,0,0,0,0,0,0,14.76,14.55,14.78
$GC,6788,-0.47,-116.8,3233,3225,3382,3438,728.5,-8.1,474,6797,0.00,2.53,0.00,0.000,1030,0.000,0.099,3230,1805,3409,3381,3438,0,0,0,0,0,0,14.64,14.57,14.66
$GC,7132,-0.47,-116.8,3229,1805,3381,3438,756.7,-8.4,490,7140,0.00,2.53,0.00,0.000,260,0.000,0.109,3229,3221,3408,3379,3438,0,0,0,0,0,0,14.75,14.54,14.77
$GC,7190,-0.47,-116.8,3233,3222,3378,3437,762.0,-8.4,500,7198,0.00,2.53,0.00,0.000,1030,0.000,0.100,3233,1787,3409,3381,3437,0,0,0,0,0,0,14.63,14.55,14.65
$GC,7513,-0.47,-116.8,3233,1791,3381,3437,790.2,-9.0,512,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1790,3409,3381,3437,0,0,0,0,0,0,14.75,14.76,14.76
$GC,7809,-0.47,-116.8,3233,1790,3379,3437,816.9,-8.8,522,7817,0.00,2.55,0.00,0.000,260,0.000,0.109,3232,3220,3411,3386,3437,0,0,0,0,0,0,14.75,14.55,14.77
$GC,7927,-0.47,-116.8,3231,3219,3379,3436,826.0,-8.2,543,7935,0.00,2.53,0.00,0.000,1030,0.000,0.103,3230,1809,3407,3379,3436,0,0,0,0,0,0,14.63,14.54,14.64
$GC,8256,-0.47,-116.8,3233,1809,3377,3436,852.0,-7.8,556,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1809,3407,3378,3436,0,0,0,0,0,0,14.74,14.76,14.76
$GC,8552,-0.47,-116.8,3233,1809,3378,3436,872.9,-6.6,566,8560,0.00,2.53,0.00,0.000,260,0.000,0.111,3233,3205,3406,3377,3436,0,0,0,0,0,0,14.74,14.55,14.76
$GC,8646,-0.47,-116.8,3228,3205,3377,3436,879.3,-6.0,583,8656,0.00,2.53,0.00,0.000,1030,0.000,0.103,3233,1786,3406,3377,3436,0,0,0,0,0,0,14.63,14.54,14.64
$GC,8956,-0.47,-116.8,3232,1789,3376,3436,898.2,-6.5,594,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1790,3406,3376,3436,0,0,0,0,0,0,14.74,14.76,14.74
$GC,9252,-0.47,-116.8,3233,1790,3383,3435,918.3,-6.9,604,9260,0.00,2.55,0.00,0.000,260,0.000,0.110,3233,3211,3406,3376,3436,0,0,0,0,0,0,14.75,14.55,14.76
$GC,9365,-0.47,-116.8,3232,3212,3376,3435,926.4,-6.9,624,9372,0.00,2.53,0.00,0.000,1030,0.000,0.103,3233,1805,3405,3375,3435,0,0,0,0,0,0,14.63,14.54,14.64
$GC,9697,-0.47,-116.8,3233,1805,3376,3433,950.2,-7.5,638,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1805,3405,3376,3435,0,0,0,0,0,0,14.74,14.75,14.75
$GC,9994,-0.47,-116.8,3232,1805,3376,3435,972.0,-7.1,648,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1805,3405,3375,3435,0,0,0,0,0,0,14.74,14.76,14.76
$STATE,10288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10289,begin apogee
$GC,10301,-0.17,0.0,3233,2352,3375,3434,991.6,-6.3,658,10398,0.32,0.00,92.22,1.903,10246,0.186,0.000,3334,2352,2941,2881,3001,0,0,0,0,0,0,14.51,13.86,13.22
$STATE,10402,end apogee,CONTROL_FINISHED_OK
$STATE,10402,begin climb
$GC,10407,0.47,116.8,3335,2352,2876,2999,994.5,0.0,661,10518,0.60,2.78,97.65,1.862,10756,0.124,0.112,3541,920,2457,2330,2585,0,0,0,0,0,0,13.88,13.63,13.05
$GC,10558,0.47,116.8,3540,920,2336,2584,985.3,9.3,679,10569,0.00,2.65,0.00,0.000,1030,0.000,0.099,3541,2350,2460,2336,2585,0,0,0,0,0,0,13.96,13.88,13.98
$GC,10885,0.47,116.8,3541,2350,2333,2584,955.0,9.1,692,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2350,2461,2333,2590,0,0,0,0,0,0,14.45,14.47,14.50
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$STATE,22787,end climb,SURFACE_DEPTH_REACHED
$STATE,22787,begin surface coast
$FINISH,-0.1,1.023825
$STATE,22826,end surface coast,CONTROL_FINISHED_OK
$STATE,22826,begin surface
$SM_CCo,22861,10.32,0.085,0,0,1411,375.06
$SM_GC,1.93,9.90,3.55,10.32,0.053,0.096,0.085,93,1809,1411,-10.26,0.62,375.06,0,0,0,0,0,0,14.43,14.40,14.41
$IRIDIUM_FIX,4654.38,-12620.51,240615,123634
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.51
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3918848
$24V_AH,13.05,12.823
$10V_AH,13.01,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.650,173.900,378.625,10.325,0.000,0.000,0.000,553.675,0.000,0.000,7.841,3226.338,15457.293,657.488,3165.324,1170.822,0.000,2840.545,0.000,2191.048,0.000,0.537,0.000
$DEVICE_MAMPS,361.845,2220.795,1903.320,84.915,0.000,0.000,0.000,148.410,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22849.000,10677.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.740,8.952,0.000,0.000
$MEM,286380
$DATA_FILE_SIZE,49953,1440
$CAP_FILE_SIZE,260752,0
$CFSIZE,260034560,251768832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,221.36,1
$GPS,250615,012703,4709.944,-12631.924,27,1.5,28,16.5,0.2,0.0,4,10.0